version: 66.13
glider: 128
mission: 4
dive: 4
start: 1 15 118 10 24 11
data:
$ID,128
$MISSION,4
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,180
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51713
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,250
$PITCH_MAX,3750
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,2908
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-157.40906
$PRESSURE_SLOPE,0.00014074198
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043553207
$SEABIRD_T_H,0.00062594062
$SEABIRD_T_I,2.3765557e-05
$SEABIRD_T_J,2.606791e-06
$SEABIRD_C_G,-9.8755465
$SEABIRD_C_H,1.1390997
$SEABIRD_C_I,-0.0019936475
$SEABIRD_C_J,0.00023608611
$GPS1,150118,102015,-340.4586,5535.7983,14,0.9,17,-4.8,0.8,141.1,9,8.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-68.8
$GPS2,150118,102333,-340.4787,5535.8545,17,0.9,20,-4.8,0.8,127.1,9,9.4
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,N
$TGT_LATLONG,-300.000,5535.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,318.6,74983,-9.2,-6.667,-14.80,4377
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.50,-194.6,235,1960,702,639,0.0,0.0,0,106,0.00,0.00,-96.85,0.003,16386,0.000,0.000,234,1960,3607,3588,3627,0,0,0,0,0,0,15.11,28.83,15.13
$GC,108,-0.50,-194.6,234,1960,3588,3627,3.9,-10.1,16,130,12.23,2.35,-1.42,0.076,18692,0.442,0.090,2677,3368,3705,3699,3711,0,0,0,0,0,0,14.59,13.87,14.80
$GC,167,-0.50,-194.6,2677,3368,3704,3709,26.1,-18.8,26,175,0.00,2.28,0.00,0.000,1030,0.000,0.057,2677,1950,3707,3706,3708,0,0,0,0,0,0,14.96,14.88,14.97
$GC,476,-0.50,-194.6,2677,1949,3713,3705,67.3,-10.5,74,481,0.00,2.33,0.00,0.000,260,0.000,0.076,2677,3362,3709,3713,3705,0,0,0,0,0,0,15.19,14.92,15.21
$GC,588,-0.50,-194.6,2677,3362,3714,3705,74.4,-6.3,96,592,0.00,2.25,0.00,0.000,1062,0.000,0.052,2677,1938,3709,3714,3705,0,0,0,0,0,0,15.04,14.97,15.06
$GC,899,-0.50,-194.6,2677,1936,3717,3705,93.6,-5.7,128,903,0.00,2.35,0.00,0.000,292,0.000,0.080,2677,3355,3711,3717,3705,0,0,0,0,0,0,15.23,14.97,15.26
$GC,960,-0.50,-194.6,2677,3355,3717,3705,97.1,-5.8,140,967,0.00,2.22,0.00,0.000,1062,0.000,0.050,2677,1940,3711,3717,3705,0,0,0,0,0,0,15.07,15.01,15.09
$GC,1267,-0.50,-194.6,2677,1939,3717,3704,111.5,-5.0,171,1270,0.00,2.35,0.00,0.000,292,0.000,0.080,2677,3359,3710,3717,3704,0,0,0,0,0,0,15.26,14.98,15.27
$GC,1348,-0.50,-194.6,2677,3359,3717,3704,115.9,-5.4,187,1353,0.00,2.22,0.00,0.000,1062,0.000,0.051,2677,1947,3710,3717,3703,0,0,0,0,0,0,15.09,15.03,15.11
$GC,1660,-0.50,-194.6,2677,1944,3717,3701,129.9,-5.5,219,1665,0.00,2.35,0.00,0.000,292,0.000,0.081,2677,3362,3709,3717,3701,0,0,0,0,0,0,15.26,14.98,15.28
$GC,1725,-0.50,-194.6,2677,3362,3717,3700,134.2,-7.1,232,1733,0.00,2.28,0.00,0.000,1030,0.000,0.052,2677,1944,3708,3717,3700,0,0,0,0,0,0,15.05,15.02,15.07
$GC,2032,-0.50,-194.6,2677,1944,3717,3698,157.5,-7.4,263,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1944,3707,3717,3698,0,0,0,0,0,0,15.26,15.29,15.28
$GC,2333,-0.50,-194.6,2677,1944,3717,3695,173.6,-4.7,293,2337,0.00,2.33,0.00,0.000,292,0.000,0.083,2677,3355,3706,3717,3695,0,0,0,0,0,0,15.26,14.99,15.28
$GC,2454,-0.50,-194.6,2677,3355,3716,3694,179.7,-5.4,317,2458,0.00,2.20,0.00,0.000,1062,0.000,0.053,2677,1953,3705,3716,3694,0,0,0,0,0,0,15.10,15.04,15.12
$GC,2766,-0.50,-194.6,2677,1948,3714,3692,197.8,-5.6,349,2770,0.00,2.22,0.00,0.000,548,0.000,0.068,2677,541,3703,3714,3692,0,0,0,0,0,0,15.26,15.00,15.28
$GC,2997,-0.50,-194.6,2676,540,3712,3692,212.4,-6.5,395,3002,0.00,2.22,0.00,0.000,1062,0.000,0.060,2677,1946,3702,3712,3692,0,0,0,0,0,0,15.09,15.01,15.11
$GC,3309,-0.50,-194.6,2677,1946,3711,3688,232.0,-6.2,427,3313,0.00,2.25,0.00,0.000,548,0.000,0.069,2677,542,3700,3712,3688,0,0,0,0,0,0,15.26,15.00,15.28
$GC,3540,-0.50,-194.6,2677,542,3709,3688,245.1,-5.5,473,3545,0.00,2.25,0.00,0.000,1062,0.000,0.060,2677,1966,3698,3709,3688,0,0,0,0,0,0,15.08,14.99,15.10
$GC,3862,-0.50,-194.6,2677,1966,3709,3685,261.0,-5.4,492,3866,0.00,2.28,0.00,0.000,548,0.000,0.067,2677,544,3696,3708,3685,0,0,0,0,0,0,15.26,14.99,15.28
$GC,3997,-0.50,-194.6,2677,543,3707,3684,270.5,-7.6,519,4001,0.00,2.22,0.00,0.000,1030,0.000,0.062,2677,1945,3695,3706,3685,0,0,0,0,0,0,15.09,15.01,15.11
$GC,4313,-0.50,-194.6,2676,1946,3706,3682,292.7,-7.3,532,4317,0.00,2.22,0.00,0.000,516,0.000,0.068,2677,552,3693,3706,3681,0,0,0,0,0,0,15.27,14.99,15.29
$GC,4374,-0.50,-194.6,2677,553,3706,3681,297.2,-7.7,544,4378,0.00,2.25,0.00,0.000,1030,0.000,0.063,2677,1947,3693,3705,3681,0,0,0,0,0,0,15.08,15.00,15.11
$GC,4705,-0.50,-194.6,2677,1947,3704,3680,315.3,-4.8,560,4709,0.00,2.25,0.00,0.000,548,0.000,0.069,2677,543,3692,3704,3680,0,0,0,0,0,0,15.27,14.99,15.29
$GC,4798,-0.50,-194.6,2677,542,3704,3680,320.3,-6.0,578,4803,0.00,2.25,0.00,0.000,1062,0.000,0.062,2677,1955,3691,3703,3679,0,0,0,0,0,0,15.09,15.00,15.10
$GC,5130,-0.50,-194.6,2677,1955,3702,3677,337.7,-5.3,594,5134,0.00,2.30,0.00,0.000,292,0.000,0.086,2677,3355,3689,3702,3677,0,0,0,0,0,0,15.27,14.97,15.29
$GC,5359,-0.50,-194.6,2676,3355,3701,3675,352.3,-6.9,640,5364,0.00,2.25,0.00,0.000,1030,0.000,0.056,2677,1944,3688,3701,3675,0,0,0,0,0,0,15.08,15.01,15.10
$STATE,5490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5490,begin apogee
$GC,5495,-0.14,0.0,2677,2794,3700,3675,360.6,-6.3,646,5644,0.43,0.00,141.02,1.633,10246,0.125,0.000,2821,2793,2907,2934,2881,0,0,0,0,1,0,14.95,14.30,13.64
$STATE,5645,end apogee,CONTROL_FINISHED_OK
$STATE,5645,begin climb
$GC,5646,0.50,194.6,2821,2793,2934,2880,367.2,0.0,651,5805,0.60,1.55,145.82,1.640,11012,0.090,0.082,3024,3701,2114,2161,2068,0,0,0,0,1,0,14.33,14.12,13.59
$GC,5981,0.50,194.6,3024,3701,2161,2068,326.3,15.3,719,5986,0.00,1.48,0.00,0.000,1030,0.000,0.058,3025,2809,2114,2161,2068,0,0,0,0,0,0,14.73,14.69,14.76
$GC,6303,0.50,194.6,3024,2807,2161,2068,282.1,13.2,733,6307,0.00,2.30,0.00,0.000,516,0.000,0.073,3024,1395,2114,2161,2068,0,0,0,0,0,0,15.09,14.85,15.11
$GC,6532,0.50,194.6,3024,1395,2159,2068,253.3,13.0,779,6536,0.00,2.33,0.00,0.000,1030,0.000,0.073,3024,2798,2113,2159,2068,0,0,0,0,0,0,14.97,14.88,15.00
$GC,6843,0.50,194.6,3024,2798,2159,2068,208.4,14.0,809,6847,0.00,2.30,0.00,0.000,516,0.000,0.070,3025,1394,2113,2159,2068,0,0,0,0,0,0,15.17,14.92,15.19
$GC,7004,0.50,194.6,3024,1395,2156,2068,189.2,10.8,841,7008,0.00,2.33,0.00,0.000,1030,0.000,0.073,3024,2801,2112,2156,2068,0,0,0,0,0,0,15.01,14.92,15.04
$GC,7315,0.50,194.6,3024,2801,2156,2068,152.5,12.0,873,7319,0.00,2.30,0.00,0.000,516,0.000,0.071,3025,1395,2112,2156,2068,0,0,0,0,0,0,15.20,14.95,15.22
$GC,7536,0.50,194.6,3024,1394,2154,2068,125.8,12.4,917,7540,0.00,2.33,0.00,0.000,1030,0.000,0.073,3024,2802,2111,2154,2068,0,0,0,0,0,0,15.02,14.93,15.05
$GC,7847,0.50,194.6,3024,2802,2154,2068,82.8,13.0,949,7851,0.00,2.30,0.00,0.000,516,0.000,0.070,3025,1394,2111,2154,2068,0,0,0,0,0,0,15.21,14.96,15.23
$GC,7998,0.50,194.6,3024,1394,2153,2068,66.2,10.8,979,8002,0.00,2.33,0.00,0.000,1030,0.000,0.073,3025,2799,2110,2153,2068,0,0,0,0,0,0,15.04,14.95,15.06
$GC,8303,0.72,368.0,3024,2799,2153,2068,46.3,2.6,1020,8471,0.17,2.45,154.73,1.051,11044,0.135,0.067,3093,1389,1406,1459,1354,0,0,0,0,1,0,14.93,14.38,13.84
$GC,8694,0.72,368.0,3093,1390,1462,1362,5.1,13.9,1091,8701,0.00,2.35,0.00,0.000,1030,0.000,0.064,3093,2807,1412,1462,1362,0,0,0,0,0,0,14.79,14.71,14.81
$STATE,8711,end climb,SURFACE_DEPTH_REACHED
$STATE,8711,begin surface coast
$FINISH,-0.2,1.022368
$STATE,8733,end surface coast,CONTROL_FINISHED_OK
$STATE,8733,begin surface
$SM_CCo,8749,87.40,0.096,0,0,664,550.20
$SM_GC,0.61,8.32,1.45,87.40,0.095,0.058,0.096,243,1940,664,-8.13,0.93,550.20,0,0,0,0,0,0,14.71,14.76,14.71
$IRIDIUM_FIX,-337.28,5537.84,150118,101752
$TT8_MAMPS,0.019474,0.153545
$HUMID,54.37
$INTERNAL_PRESSURE,8.46325
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,13.59,3.121
$10V_AH,13.89,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.750,83.700,441.575,87.400,0.000,0.000,0.000,0.000,0.000,0.000,20.733,2150.340,4502.282,614.121,1601.016,58.845,0.000,1458.643,0.000,1565.055,0.000,0.548,0.000
$DEVICE_MAMPS,442.170,89.505,1640.160,95.625,0.000,0.000,0.000,0.000,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,499.838,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304708
$DATA_FILE_SIZE,46673,1098
$CAP_FILE_SIZE,113707,0
$CFSIZE,260034560,258375680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$CURRENT,0.410,109.32,1
$GPS,150118,125239,-340.100,5536.208,34,1.0,38,-4.8,0.5,112.4,7,9.5